iOS: Question about modify/delete mesh data

[Henry-JH]

Hello, thank you for your great work.

I want to develop a volume measurement function, so I have to create closed meshes and add the clipping function.

However, I'm confused about which files and code chunks to manipulate to generate and remove the reconstructed meshes.

Do you have any suggestions?

[matlabbe]

When you do "Assemble" action, the optimized mesh is generated by this function:

rtabmap/app/android/jni/RTABMapApp.cpp

Lines 2697 to 2714 in 374df24

	bool RTABMapApp::exportMesh(
	float cloudVoxelSize,
	bool regenerateCloud,
	bool meshing,
	int textureSize,
	int textureCount,
	int normalK,
	bool optimized,
	float optimizedVoxelSize,
	int optimizedDepth,
	int optimizedMaxPolygons,
	float optimizedColorRadius,
	bool optimizedCleanWhitePolygons,
	int optimizedMinClusterSize,
	float optimizedMaxTextureDistance,
	int optimizedMinTextureClusterSize,
	bool blockRendering)
	{

Then loaded in RAM afterwards with:

rtabmap/app/android/jni/RTABMapApp.cpp

Lines 3512 to 3521 in 374df24

	cloudMat = rtabmap_->getMemory()->loadOptimizedMesh(&polygons, &texCoords, &textures);
	if(!cloudMat.empty())
	{
	LOGI("postExportation: Found optimized mesh! Visualizing it.");
	optMesh_ = rtabmap::util3d::assembleTextureMesh(cloudMat, polygons, texCoords, textures, true);
	optTexture_ = textures;
	boost::mutex::scoped_lock lock(renderingMutex_);
	visualizingMesh_ = true;
	exportedMeshUpdated_ = true;

Then shown in render loop here (added to opengl if not already):

rtabmap/app/android/jni/RTABMapApp.cpp

Lines 1421 to 1451 in 374df24

	if(visualizingMesh_)
	{
	if(exportedMeshUpdated_)
	{
	main_scene_.clear();
	exportedMeshUpdated_ = false;
	}
	if(!main_scene_.hasCloud(g_optMeshId))
	{
	LOGI("Adding optimized mesh to opengl (%d points, %d polygons, %d tex_coords, materials=%d texture=%dx%d)...",
	optMesh_->cloud.point_step==0?0:(int)optMesh_->cloud.data.size()/optMesh_->cloud.point_step,
	optMesh_->tex_polygons.size()!=1?0:(int)optMesh_->tex_polygons[0].size(),
	optMesh_->tex_coordinates.size()!=1?0:(int)optMesh_->tex_coordinates[0].size(),
	(int)optMesh_->tex_materials.size(),
	optTexture_.cols, optTexture_.rows);
	if(optMesh_->tex_polygons.size() && optMesh_->tex_polygons[0].size())
	{
	rtabmap::Mesh mesh;
	mesh.gains[0] = mesh.gains[1] = mesh.gains[2] = 1.0;
	mesh.cloud.reset(new pcl::PointCloud<pcl::PointXYZRGB>);
	mesh.normals.reset(new pcl::PointCloud<pcl::Normal>);
	pcl::fromPCLPointCloud2(optMesh_->cloud, *mesh.cloud);
	pcl::fromPCLPointCloud2(optMesh_->cloud, *mesh.normals);
	mesh.polygons = optMesh_->tex_polygons[0];
	mesh.pose.setIdentity();
	if(optMesh_->tex_coordinates.size())
	{
	mesh.texCoords = optMesh_->tex_coordinates[0];
	mesh.texture = optTexture_;
	}
	main_scene_.addMesh(g_optMeshId, mesh, rtabmap::opengl_world_T_rtabmap_world, true);